Key points

Was charged with resisting arrest without violence and driving on expired licence

Has been released from jail after appearing in court via videolink

The 19-year-old Canadian singer initially resisted arrest, cursed at police officers and later told them he had consumed alcohol, pot and prescription drugs, police said.

Following a bail hearing, Bieber emerged from jail escorted by correctional officers and his personal entourage, before climbing on the roof of an SUV to wave to fans.

His bail was set at $2,850.

Just after 4:00am on Thursday (local time), Miami Beach police chief Raymond Martinez says two SUVs had blocked off a four-lane road so Bieber, driving the yellow Lamborghini, could race a friend who was driving a rented red Ferrari.

His friend, identified as R&B singer Khalil Sharieff, was arrested on a charge of driving under the influence. His bail was set at $US1,000.

High-powered criminal defence attorney Roy Black, who also has represented radio talk show host Rush Limbaugh, actor Kelsey Grammer and Kennedy family member William Kennedy Smith, appeared in court on behalf of both men.

"This hopefully will proceed as any other case," Mr Black said after the hearing.

Hours after Bieber's arrest in the US, one of the pop star's assistants failed to appear in Brisbane Magistrate's Court to face drugs charges.

It is alleged Terrence Smalls was carrying 13 grams of cannabis when the Canadian singer's entourage arrived in Brisbane last November as part of an Australian tour.

His lawyer has told the court the drugs belonged to another member of the touring party who intended to claim criminal responsibility.

The 23-year-old also failed to appear in court last month and the matter has been listed again for March.

Police escort to strip club under investigation

Meanwhile, the police department in the Florida city of Opa-locka is investigating whether two of its officers gave Bieber an unauthorised escort on Monday night after his private jet landed at the local airport, city spokesman David Chiverton said.

He says the city is also looking into whether officers escorted Bieber to the King of Diamonds strip club in Miami Gardens.